Refactor CMake with JRL CMake Modules v2 by ahoarau · Pull Request #612 · stack-of-tasks/eigenpy

ahoarau · 2025-12-11T14:43:23Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Remove submodules: archives can now be used
c++17 minimum required
reorder tests to separate python and cpp tests
🚧 NIX CI is temporarily disabled

jorisv

Nice work, the CMakeLists are way clearer.

original is from templates/deprecated.hpp.in

deprecated https://en.cppreference.com/w/cpp/language/user_literal.html

they are now autogenerated by jrl v2

configure_file will overrite boost_optional.cpp only if the content changes. This allow to a quick check on the actual code, and simplifies the cmake

jorisv · 2026-05-29T10:03:36Z

-  set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/CHOLMOD
-                        ${CMAKE_MODULE_PATH})


CHOLMODConfig.cmake is not packaged on Ubuntu 22.04 (libsuitesparse-dev).
We must provide it to avoid regressions.
To avoid using our custom CHOMODConfig.cmake on all system we can use the same strategy than aligator : creating an explicit EIGENPY_BUILD_WITH_UBUNTU_22_COMPATIBILITY option that must be activated on this system.

jorisv · 2026-05-29T10:14:38Z

+  INSTALL_CPP_PACKAGE_FILES [[NOT BUILD_STANDALONE_PYTHON_INTERFACE]]
+  INSTALL_PYTHON_PACKAGE_FILES [[BUILD_PYTHON_INTERFACE]]


Suggested change

INSTALL_CPP_PACKAGE_FILES [[NOT BUILD_STANDALONE_PYTHON_INTERFACE]]

INSTALL_PYTHON_PACKAGE_FILES [[BUILD_PYTHON_INTERFACE]]

INSTALL_CPP_PACKAGE_FILES ON

INSTALL_PYTHON_PACKAGE_FILES ON

There is no BUILD_STANDALONE_PYTHON_INTERFACE and BUILD_PYTHON_INTERFACE

jorisv · 2026-05-29T11:47:55Z

+    set(script_path ${CMAKE_CURRENT_SOURCE_DIR}/test_${name}.py)
+  endif()
+
+  set(test_name "Eigenpy: test_${name}.py")


Suggested change

set(test_name "Eigenpy: test_${name}.py")

set(test_name "eigenpy: test_${name}.py")

for consistency with cpp test and other project tests

jorisv · 2026-05-29T12:24:38Z

-      - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy python3-scipy
-      - run: cmake -B build -S eigenpy
-      - run: grep -qvz CMAKE_PROJECT_VERSION:STATIC=0.0 build/CMakeCache.txt
+          repository: ahoarau/jrl-cmakemodules


Update after jrl-next release

jorisv · 2026-05-29T12:28:48Z

      matrix:
-        python: [3]
-        ubuntu: [22, 24]
+        os: [ubuntu-22.04, ubuntu-24.04]


Use docker container ubuntu:22.04 and `ubuntu:24.04' instead of Github image to have right package version.

jorisv · 2026-05-29T12:44:39Z

-      - run: make -j2
-      - run: ctest --output-on-failure
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}


Find an unique prefix (cf github cache discussion in macos-linux-windows-pixi workflow)

jorisv · 2026-05-29T12:45:59Z

+      env:
+        CMAKE_BUILD_PARALLEL_LEVEL: 2
+      run: |
+        pixi run -e ${{ matrix.environment }} build --verbose --parallel 2


By running pixi run build you will rerun pixi run configure.
Pixi can't detect this first step is already done.

jorisv · 2026-05-29T12:54:26Z

+endif()
+
+# Fallback to FetchContent if not found
+set(JRL_GIT_REPOSITORY "https://github.com/ahoarau/jrl-cmakemodules.git")


To update after jrl-next release

jorisv · 2026-05-29T13:12:42Z

 numpy = ">=1.22.0"
-python = ">=3.9.0"
+python = ">=3.10"
 scipy = ">=1.10.0"


Add jrl-cmakemodules = ">=2.0" when jrl-next is released

jorisv · 2026-05-29T13:13:14Z

@@ -48,19 +47,19 @@ extra-args = [
 pkg-config = ">=0.29.2"


Remove pkg-config and add jrl-cmakemodules = ">=2.0" when jrl-next is released

jorisv · 2026-06-02T13:11:10Z

+  add_test(NAME ${test_name} COMMAND $<TARGET_FILE:Python::Interpreter> ${script_path})
+  set_tests_properties(
+    ${test_name}
+    PROPERTIES ENVIRONMENT PYTHONPATH=$<TARGET_FILE_DIR:eigenpy_pywrap>/.. DEPENDS eigenpy_pywrap


It's better to use ENVIRONMENT_MODIFICATION to avoid issue with some package manager or custom installation path:

ENVIRONMENT_MODIFICATION "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:eigenpy_pywrap>/.."

ahoarau marked this pull request as draft December 11, 2025 16:38

ahoarau force-pushed the jrl-next branch from ddb28c4 to cfffca8 Compare December 15, 2025 10:36

ManifoldFR added the no changelog label Dec 17, 2025

ManifoldFR marked this pull request as ready for review December 17, 2025 15:02

ManifoldFR removed the no changelog label Dec 17, 2025

ManifoldFR marked this pull request as draft December 17, 2025 15:02

ahoarau force-pushed the jrl-next branch 2 times, most recently from e114b10 to 7d7943a Compare December 22, 2025 13:28

jorisv requested changes Dec 30, 2025

View reviewed changes

ahoarau force-pushed the jrl-next branch from d58471f to ec1302c Compare January 9, 2026 16:02

ahoarau force-pushed the jrl-next branch 2 times, most recently from b8cf5d4 to c8bb47e Compare February 11, 2026 09:46

ahoarau force-pushed the jrl-next branch 2 times, most recently from 82e628b to d588970 Compare March 24, 2026 09:03

ahoarau force-pushed the jrl-next branch 3 times, most recently from 567f237 to 41bfb1e Compare April 15, 2026 14:31

ahoarau added 13 commits May 11, 2026 14:09

remove duplicated EIGENPY_STRINGIZE macro

d7891ea

original is from templates/deprecated.hpp.in

update pre-commit and switch to gersemi

81510e3

update clang-format to c++17

2d8f082

fwd.hpp: remove space in user-defined litteral

3fe00a8

deprecated https://en.cppreference.com/w/cpp/language/user_literal.html

ignore more stuff

73985ba

add gersemi config

6c2b41d

remove submodules

d609c3e

rename main.cpp to bindings.cpp

17dc6d1

remove custom python init file

84a5e56

they are now autogenerated by jrl v2

update pixi.toml tasks

7b1036b

separate cpp and python tests, and generate variants

76f7779

configure_file will overrite boost_optional.cpp only if the content changes. This allow to a quick check on the actual code, and simplifies the cmake

rewrite CMake files with JRL CMake Modules v2

a563812

intregrate get-jrl-cmakemodules.cmake

7ac1f4d

ahoarau added 24 commits May 11, 2026 14:09

ci: disable pixi explicit cache

fb2f9a1

ci: build verbose and limit to 2 cpu

a29e585

ci: relax pixi cache

178fcaa

ci: enable testing

a6ced57

ci: build in debug

d9df997

ci: update cache keys

45b2bb6

cmake: replace jrl_find_package with jrl_check_python_module for scipy

1566dc8

generate generated tests in the build folder

0d2d834

remove clang-format ignore

3f4a0db

cmake: update jrl_boostpy_add_stubs api

75446bc

cmake: add jrl_generate_ros2_package_files

095c191

cmake: generate ros2 python package files with condiition

bef6b7f

ci: apt update before install

33e2131

ci: apt update before install

8c490fd

rosci: do not use prerelease

1a75903

cmake: update the get-jrl messages

2f8cae2

cmake: require jrl >=1.2 to get the jrl-v2

0ddd8dc

cmake: update python and nanobind min required

fe26706

pixi: update min python version

7e979c5

pixi: add cxx-compiler to pixi-build feature

66b5735

cmake: include project version in config header generation

8eff752

pixi: update lock file

b97a147

pre-commit: change to gersemi precommit repo

9ac408d

pixi: update lock file

f8cd863

ahoarau force-pushed the jrl-next branch from 41bfb1e to f8cd863 Compare May 11, 2026 12:10

ci: update ros-i

0519a1d

jorisv requested changes May 29, 2026

View reviewed changes

jorisv mentioned this pull request Jun 2, 2026

Refactor CMake with JRL CMake Modules v2 (v2) Simple-Robotics/nanoeigenpy#40

Open

jorisv reviewed Jun 2, 2026

View reviewed changes

jorisv mentioned this pull request Jun 5, 2026

Conan recipe #651

Open

		set(CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/CHOLMOD
		${CMAKE_MODULE_PATH})

		INSTALL_CPP_PACKAGE_FILES [[NOT BUILD_STANDALONE_PYTHON_INTERFACE]]
		INSTALL_PYTHON_PACKAGE_FILES [[BUILD_PYTHON_INTERFACE]]

	set(test_name "Eigenpy: test_${name}.py")
	set(test_name "eigenpy: test_${name}.py")

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ahoarau commented Dec 11, 2025 •

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